Camping 5 (Source)
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Visitors raise the xp, but only those still actually there when the camp disbands count for XP. There was a trick of having a guy run in and out multiple times that used to work, rumor says it got nerfed. Same deal with calling a pet many many times.
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Shamp,
You leave the camp and run back in. It doesn't disband immediately - usually takes about 2 minutes with no one in it for it go bye bye. What happens though is that the "visitor" number on your camp control panel increased the number of visitors.
I've done this a few times, but I'm not sure that it actually does anything. I've not noticed my XP going up significantly.
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What counts toward the camps xp (survival xp) is the number of people, HAM damage healed, and wounds healed.
Current visitors add more XP when the camp is disbanded, rather than the same amount of visitors only passing through. I think the healing element adds a bit more xp than visitors. I've maxed out survival XP in a camp that was only set up for 5 minutes by having my wife there healing my wounds and damage, and having a few visitors with wound/HAM damage healed.
If you allow the camp to self-heal your wounds and damage, it will add XP, but it's pretty slow and you'd need lots of damage and wounds to heal.
(however, if you sit in a camp while diseased, you'll notice the added XP when you disband)